This is an example of two robots having paths that intersect in an H shaped environment. For both of the robots to successfully traverse their paths, one of the robots must wait on the other to clear the corridor. In this example, there are two optimal solutions. One is for the blue robot to wait, and the other is for the red robot to wait. The robot coordinator will compute both of these optimal solutions simultaneously.

Also pictured is the coordination diagram for the two robots. This shows the optimal actions for the two robots to take, given their location in their respective paths. Each axis represents the discrete representation of one of the robot's path. The red dots represent configurations in which a collision between the robots occurs.